Modular system for cleaning solar panels

ABSTRACT

The invention refers to a modular system ( 1 ) for cleaning panels or an array of panels ( 100 ), comprising: at least two independent modules ( 10   a,    10   b ) communicating with each other, arranged at the upper and lower ends of the array of panels ( 100 ), respectively; and at least one cleaning element ( 16 ) arranged transversely to the array of panels ( 100 ) between the at least two modules ( 10   a,    10   b ) by means of couplings ( 17 ); wherein each of the modules ( 10   a,    10   b ) comprises at least one traction element ( 14 ) arranged perpendicular to the array of panels ( 100 ), wherein said traction element ( 14 ) rotates when a force is applied, providing in this way movement to the modules ( 10   a,    10   b ) through the array of panels ( 100 ).

The present invention relates to a system or robot for cleaning panels,in particular solar or photovoltaic panels, wherein its operation isbased on independent modules that communicate with each other, arrangedin an array of panels, together with a cleaning element, moving on saidarray of panels to clean the surface of the same. The system ismanufactured in a modular manner, allowing its adaptation to differentpanel configurations, mainly by adjusting the distance between themodules.

The modular system for cleaning panels or arrays of panels of theinvention comprises essentially at least two independent modulescommunicating with each other, arranged at the upper and lower ends ofthe array of panels, respectively; and at least one cleaning elementdisposed between the at least two modules transverse to the array ofpanels. In addition, each of the modules comprises at least one tractionelement thus providing movement to the modules through the array ofpanels.

BACKGROUND

Currently there is an increasing interest in improving the operating andefficiency conditions of photovoltaic plants, which have become animportant source of renewable energy around the world. These plants aremostly located in desert areas of high radiation with very aggressiveoperating conditions for the involved components of the systems.

One of the risk factors of photovoltaic projects and the main cost inthe operation is the soiling problem caused by the particulate materialthat is deposited on the surface of the panels, preventing the availableradiation reaches the cells completely, thus reducing the generation ofenergy. The soiling, depending on the geographical situation andclimatic factors, can considerably reduce the expected income and theduration of the equipment due to the accelerated deterioration of thematerials.

With the exponential increase of the area covered by photovoltaic plantsand as a result of being exposed to the weather, efficient solutions arenecessary to carry out the cleaning of the panels and thus maintainingthe performance of the plant in a high level permanently. Optimized,high-frequency cleaning methods are required to reduce soiling losses.That is, that they can cover the entire plant and to ensure the cleaningis carried out with such frequency that the accumulation of particulatematerial affects as least as possible the income generated byelectricity generation.

In this context, and specifically in the field of systems for cleaningsolar panels, there are several solutions currently available on themarket, which comply with the purpose of keeping dust-free arrays ofpanels arranged in photovoltaic plants. However, there are a number ofissues associated with its implementation so that none of thesesolutions is capable of addressing. One of these problems isfundamentally related to the loss of efficiency in the panels due to thelarge surface area of the cleaning systems, which pass over the panelsproducing shade on them preventing the solar radiation from reaching thecells. Another problem present in the current systems is related to theloss of efficiency due to some damage in the system or in some of itscomponents, since in such situation the system must be completelyremoved for review and repair leaving the panels at the mercy of thedust, unless there is a complete supporting system which makes theprocess too expensive considering the size of the photovoltaic plants.The present invention is responsible for these and other issues.

In the field of patents, there are also solutions aimed at cleaningsolar panels. For example, patent application US 2015/0349706 A1describes a cleaning system for photovoltaic modules, which includes arobotic cleaning device, a support system and a curved cleaning head,wherein the support system is configured for providing a first meteredamount of cleaning liquid to a reservoir included in the roboticcleaning device, wherein the first quantity of liquid is based on thelevel of soiling of the plurality of photovoltaic modules. In thissense, the system described by this document differs from the presentinvention in several aspects, the most relevant being the use of aliquid as a cleaning agent and the modular capacity of the components ofeach of the systems.

Regarding the first aspect, it can be seen that the document US2015/0349706 A1 seeks to offer a cleaning solution that includes addinga cleaning liquid on the surface of the panels. Although with thissystem the cleaning capacity increases, the use of a liquid as acleaning agent encounters various problems, for example, associated withthe heat shock that is generated on the panels due of the sudden changeof temperature when coming into contact with the liquid. In this sense,panel manufacturers recommend dry cleaning of the same, in order toavoid abrupt changes of temperature. Another problem of this type ofsystems is associated with the logistics and costs of constantly feedingliquid to the deposits of each robot, which is complex mainly in desertareas where photovoltaic plants are usually located, areas that havegreat shortages of water. Therefore, the supposed performance gained byoffering a better cleaning of the panel's surface is reduced by therisks of damaging the solar panels due to the heat shock and great costsof maintaining a constant supply of cleaning liquid product. This doesnot occur in the system of the present invention, where the dry cleaningof the panels is envisaged, according to the requirements of eachmanufacturer maintaining an optimum level of cleaning in said surfaces,in order to obtain a higher performance than that obtained withsolutions currently used.

Regarding the second aspect referring to the modular capacity of thecomponents of the system, document US 2015/0349706 A1 does not describeor suggest that the cleaning robot is modular, which in case of anydamage to the robot would cause the necessary removal of the entireunit. In contrast, in case of failure of any of the modules or cleaningelement of the present invention, it is sufficient to remove saidcomponent without affecting the rest of the system. Indeed, the modularfeature of the components forming the cleaning system of the inventionallows said components to be easily interchangeable and replaceable,operations that can be performed on-site without the need to completelyremove the system for repair. This feature not only facilitates theoperation and maintenance of the system but also improves itsavailability by reducing downtime due to maintenance processes and inaddition, substantially reduces the maintenance associated costs.

Another example is that disclosed in the Patent Application US2012/0125367 A1, which describes a service device for the maintenance ofan array of solar panels. Said device comprises a service unit formaintaining the surface of the array of panels, a guiding unit forguiding the service unit with respect to the array of panels, and adrive unit for moving the service unit with respect to the arrangementof panels, wherein the service unit comprises a first coupling sectionand a second coupling section, wherein the guiding unit can be attachedto the first coupling section, the guiding unit being configured for adirect coupling with an edge of the array of panels, wherein the driveunit can be attached to the second coupling section, and wherein thesecond coupling section is displaceable with respect to the firstcoupling section by the drive unit.

In this case, the difference that exists between the present inventionand the device described in document US 2012/0125367 A1 lies mainly inthe non-modularity of its components, since from the description of saiddocument there is no indication that, in case of any failure in any ofthe components of the system, it can be replaced in a simple manner andindependent of the rest of the system as it occurs in the presentinvention. In addition, there are particularities that make the presentinvention a better solution for the problem of cleaning panels, such asfor example, that each of the main components is protected byindependent covers and seals, which increases their service life apartfrom making them easily identifiable and replaceable, reducingmaintenance and repair times. Said feature is not appreciated from thedescription of document US 2012/0125367 A1, where it is observed thatmost of the components are exposed to the adverse climatic conditions towhich the solar panels are subjected.

Therefore, it is necessary to have a system capable of cleaning solarpanels that not only fulfills said function but also minimizes theperformance losses of the array of panels in which it is operatingreducing any risk of damaging the panels with the cleaning process,besides being able to have a quick and easy assembly and disassembly,that does not interfere with the structure of the panels arrangement.This and other advantages associated with other aspects of thetechnology are described in more detail below.

DESCRIPTION OF THE INVENTION

The invention relates to a modular system for cleaning panels or arraysof panels, in particular solar or photovoltaic panels, but which couldalso be used in other types of related surfaces, such as for example,the cleaning of heliostats. The system of the invention minimizes thelosses in the electrical generation of the array of panels andfacilitates both the assembly and the disassembly of the system, as wellas its maintenance thanks to its modularity, reducing the risks ofcausing some type of damage to the panels and the time required to carryout maintenance operations.

According to a preferred embodiment of the invention, the modular systemfor cleaning panels or arrays of panels comprises:

-   -   at least two independent and communicating modules arranged at        the upper and lower ends of the array of panels, respectively;        and    -   at least one cleaning element arranged transversely to the array        of panels between the at least two modules, wherein said at        least one cleaning element is attached to said modules by means        of couplings;

wherein each of the modules comprises at least one traction elementdisposed substantially perpendicular to the array of panels, whereinsaid traction element rotates by applying a force, thus providingmovement to the modules through the array of panels, for thedisplacement of the system on the array of panels.

The independent nature of the modules that are part of the system of theinvention not only refers to one module forming a unit completelyindependent of another, both constructively and functionally, but alsorefers to the ability to replace said modules in their entirety, formingcompletely replaceable units, either through the exchange withequivalent modules from other cleaning systems or through replacementwith equivalent modules available in a stock of modules. Then, theindependence of the modules forming the system of the invention is notonly associated with the obvious advantages of the maintenance processesof the system, given the quick and easy operation of replacing modules,but also relates to substantially reducing the timing and transportationcosts and assembly of the system. In fact, the modular configuration ofthe cleaning system gives it portability qualities, since in itsdisassembled state the modules of the system can be transported incompact form and, for example, from pairs previously paired or ready forfield matching.

On the other hand, the communication between modules is essential toestablish a coordinated movement of the system on the arrangement ofpanels to be cleaned, being relevant to emphasize that the independencebetween modules proposed by the invention, in terms of the difficultythat may result in the operation thereof, is resolved by constantcommunication between modules, which operate in coordination and asexplained below in relation to a system embodiment. Additionally, theeasily replaceable character of the modules is closely related to thecommunication between them, which is possible to establish in a simpleway by configuring a communication link that is established betweenmodules that form a cleaning system, either during the first assembly ofthe system or when carrying out replacement operations of one or moremodules.

According to another embodiment of the invention, the system alsocomprises at least one profile, adjustable to the distance between theupper and lower ends of the array of panels, wherein said profile holdsthe modules together through at least one opening and a couplingarranged in each of the modules. Said opening and said coupling areconfigured for a profile to cross and be fixed to them, and thus to eachmodule, wherein said fixing is by means of some known fixing means,which keeps the profile fixed to the module. According to a preferredalternative, the system comprises two profiles, which hold together themodules of a cleaning system through at least two openings and twocouplings arranged in each of the modules. The configuration of profilesand modules with openings and couplings for connection of said profilesnot only facilitates the assembly of the system, but also provides aquick and easy adjustment of the length of the system to the size of thearray of panels to be cleaned.

Although one embodiment of the invention considers a structuralconnection between modules given only by the cleaning element that isbetween them, using one or more profiles arranged between modules toestablish a specific structural connection between said modules ispreferred in order to avoid overloading of the cleaning element,assigning to it only a cleaning function. For example, when the systemoperates on inclined panels, a scenario is generated in which the weightof the lower module produces tensile stress on the upper module, effortcommunicated to said upper module through it or the components thatstructurally connect both modules. Then, if one or more profiles areused between modules it is possible to reduce any traction effort on thecleaning element, assigning it only to its cleaning function by turningon its axis.

According to another embodiment of the invention, the cleaning elementcorresponds to a brush or a brush of cylindrical or polygonal crosssection, where its bristles are hard, flexible or a combination of thesecharacteristics. Furthermore, according to one embodiment, the brush isformed by a plurality of cleaning elements or brush sections, of whichquantity and size depends on the distance between the modules, forming amodular brush easily adaptable to the size of the array of panels to becleaned.

According to another embodiment of the invention, each of the modulesfurther comprises at least one additional traction element, arrangedsubstantially perpendicular to the arrangement of panels, wherein saidtraction element rotates when a force is applied, providing in this wayan additional aid to the movement of the modules through the array ofpanels. Preferably, each module comprises at least two tractionelements, arranged towards the ends of each module, distributing thetraction force in a substantially uniform manner.

According to another embodiment of the invention, each of the modulesfurther comprises at least one pair of guiding elements, to maintain thestability of said modules and serve as a guide at the upper and lowerends of the array of panels, particularly at the edges of said panels.In addition, the guiding elements provide support to the system, holdingit by one of the ends mainly when the array of panels has aninclination. Each of the modules may further comprise at least oneadditional pair of guiding elements, to provide additional stability tothe system and serve as a guide at the upper and lower ends of the arrayof panels. In this embodiment, wherein each module comprises at leasttwo pairs of guiding elements, each pair is disposed towards the ends ofthe module, providing holding the system substantially uniformly. Theamount of guiding elements will depend exclusively on the difficulty tomove through the array of panels, which can be affected by variousfactors, such as, for example, the inclination, the roughness of thesurface, the weight of the system, etc.

According to another embodiment of the invention, the material formanufacturing the modules, the profiles, the traction elements and theguiding elements can be selected from the group comprising alloys ofsteel, aluminum, wood, plastic, rubber or a combination of one or moreof said materials.

According to another embodiment of the invention, each of the modulesfurther comprises at least one actuating element, which providesrotation to the traction elements, wherein each of the modules furthercomprises at least one additional actuating element which providesrotation to the cleaning element through a transmission system.According to a preferred embodiment, each traction element has itsactuating element, providing an independent drive of said tractionelements, even allowing to continue with the displacement of the systemin the event of failure of one of the actuating elements that drives thecorresponding traction element. Furthermore, considering that eachmodule comprises an additional actuating element to drive the rotationof the cleaning element, it is also possible to continue with saidrotation in the event that one of said actuating elements fails.

In relation to the actuating elements, these correspond to an electricmotor or any type of element capable of converting electrical energy ora fuel energy into mechanical energy. Each of the actuating elements iscovered by a single sealed and waterproof housing for protection,forming an easily detachable and replaceable unit. Likewise, thetransmission system corresponds to a system of pulleys and transmissionbelt or to any type of system capable of transmitting the energygenerated by actuating elements, wherein the transmission system iscovered by a sealed and impermeable individual housing for itsprotection, forming an easily detachable and replaceable unit.

According to another embodiment of the invention, each pair of guidingelements comprises at least two plates, wherein said plates are used tojoin at their ends the axes of each guide element forming a pair ofguiding elements, wherein each pair of guiding elements comprises ananchoring axis connected to both plates, which as a whole allow to havea clearance to each one of said pairs of guiding elements, keeping theguiding elements always in contact with the edge of the array of solarpanels, wherein said clearance achieves the effect of a damping in thesystem displacement, absorbing the gaps between the panels of the array.

According to another embodiment of the invention, each module alsocomprises at least one regulating element connected to at least oneguide axis, arranged substantially perpendicular to an axis of thecoupling with the cleaning element, wherein the regulating elementattaches to said coupling in which one of the ends of the cleaningelement is arranged, allowing to raise or lower said cleaning element inrelation to the surface of the array of panels, regulating the height ofsaid cleaning element. The regulating element, which can be activatedmanually or automatically, corresponds to a threaded shaft, a pneumaticor mechanical actuator, a grooved shaft at different heights or anyelement capable of positioning at different heights in relation to areference point, wherein the manufacturing material of the regulatingelement and the guide shafts can be selected from the group comprisingalloys of steel, aluminum, wood, plastic or a combination of one or moreof said materials.

According to another embodiment of the invention, each module alsocomprises at least one controller element, which allows thesynchronization of movement between modules forming the system throughthe synchronized control of its actuating elements and thanks to thecommunication existing between modules. In addition, the controllerelement allows establishing a communication link between one or moremodules of the system with any additional module or that is availablefor the replacement of one or more modules. On the other hand, thecontrolling element allows the synchronization of the movement of theregulating elements in each module, for example in the case of automaticregulation of the brush height, as well as the coordination in therotary drive of the cleaning element. In this sense, the communicationbetween the controlling elements of each module is preferably donethrough a wireless communication protocol, for example bluetooth, wifior any other type of wireless connection allowing the digitaltransmission of data. Said wireless communication between modules favorsthe independence of the same in constructive and functional terms,facilitating the operations of exchange or replacement of modules sincethe communication can be configured at any time, between any set ofmodules. However, if necessary, the invention also contemplates theoption of establishing a cable communication link between modules,proposing a suitable connector element. Finally, each of the controllerelements is covered by a sealed and impermeable individual housing forits protection, as well as the other components of each module, forminga unit that is easily detachable and replaceable.

In relation to the above, the controlling element that each module hasis not only arranged for the independent and synchronized control of theactuating elements that drive the traction elements and the cleaningelement, but also establishes a communication between modules connectingwirelessly with the controller element (s) of additional modules thatare part of the system, allowing the synchronization of the movement ofdisplacement and cleaning between modules, controlling the progress andcleaning of the system. Then, the controlling element is a component ofthe module that facilitates the establishment of a communication linkbetween modules, either during the assembly of the system when installedon a panel or during maintenance operations where one or more modules ofthe system are replaced.

According to another embodiment of the invention, each module furthercomprises at least one energy storage element, which allows theactuating elements to operate without being permanently connected to afixed energy source, wherein the element energy storage corresponds to alead acid battery, lithium or any material or combination of materialscapable of storing electrical energy, and wherein the energy storageelement is covered by a sealed and impermeable individual housing forprotection, forming a unit easily detachable and replaceable.

According to another embodiment of the invention, the system alsocomprises a terminal port, arranged at the beginning or end of the arrayof panels, in which the modules are located at the moments ofnon-operation.

According to another embodiment of the invention, the terminal portcomprises solar panels or any other means of generating electricalenergy, which deliver the recharging energy to the energy storageelement. Additionally, the terminal port may comprise a sensor thatdetects the presence of the system, initiating the procedure ofrecharging the energy storage element in each module.

Finally, according to one embodiment of the invention, the modularcleaning system comprises one or more sensors designed to detect signalsfrom the environment of the cleaning system, allowing an automaticoperation thereof on the array of panels. For example, the systemincludes sensors that detect the limits of the array of panels, allowingthe system to displace without exceeding these limits, preventing falls.In this case, during the displacement of the system towards one end ofthe array of panels that does not have terminal port, the sensorsmounted in the system detect the end of the array of panels, stoppingthe system and activating the return movement towards the other end.Another example of the sensors mounted in the cleaning system is thedetection of climatic variables that are used to control theactivation/deactivation of the system.

In view of the above, it is relevant to note that the controller elementnot only allows the modules to be in contact, either through cables orwireless means, responsible for regulating the power that is deliveredto each of the actuating elements for a synchronized operation thereof,but also allows said modules to act independently of one another but incommunication. This is a great advantage in relation to the currentsolutions, since this independence between modules allows, in case offailure or maintenance of any of them, only the replacement of themodule in question is necessary, installing a backup or a new one thatis paired with the current module or modules that are still installed inthe system, initiating the communication between modules in order tocontinue with the cleaning process in a synchronized form.

In addition, it is relevant to highlight the function of the plates inconjunction with the anchoring axes, which allow the guiding elements tohave the necessary clearance to overcome any type of unevenness existingbetween adjacent panels, which prevents spending time in locating theedges of the panels in perfect alignment, which must be done in mostcurrent solutions. The same applies to the regulating element and theguide axes, arranged in each of the modules to attach the cleaningelement to them, wherein said configuration allows, either manually orautomatically, to raise or lower the cleaning element with respect tothe surface of the panels, in case of any unevenness between adjacentsurfaces, also avoiding to spend time in obtaining a perfect alignmentbetween each of the surfaces of the panels.

Finally, it is relevant to note that each of the components of themodule is an independent and replaceable unit, each component beingformed and arranged in sealed housings or compartments, as in case ofthe actuating elements, controller elements and elements of energystorage, easily assembled in the main structure or frame of the module,allowing each component to be replaced or repaired independently,without the need to change the complete module or to detach anothercomponents thereof, that is, without intervening the rest of thecomponents of the system.

BRIEF DESCRIPTION OF THE FIGURES

As part of the present invention, the following representative figuresthereof are as follows, these figures teach preferred configurations ofthe invention and, therefore, should not be considered as limiting thedefinition of the claimed matter.

FIG. 1 shows an isometric view of the modular system for cleaningpanels, according to a preferred embodiment of the invention.

FIG. 2 shows an isometric view of an independent module, according to apreferred embodiment of the invention.

FIG. 3 shows the arrangement of the pairs of guiding elements, accordingto a preferred embodiment of the invention.

FIG. 4 shows the arrangement of the threaded shaft together with theguide axes of each of the modules, according to a preferred embodimentof the invention.

FIG. 5 shows the clearance that the height of the cleaning element has,according to a preferred embodiment of the invention.

FIG. 6 shows a detail of the transmission system transmitting therotational movement to the cleaning element.

FIG. 7 shows the system terminal port, according to a preferredembodiment of the invention.

FIG. 8 shows a view of the complete system arranged in an array ofpanels, according to a preferred embodiment of the invention.

DETAILED DESCRIPTION OF A PREFERRED EMBODIMENT

With reference to the accompanying figures, in its preferredconfiguration, the modular system (1) for cleaning panels described bythe present invention comprises, according to what is taught in FIG. 1 ,two independent modules (10 a, 10 b) communicating with each other,arranged at each end of an array of panels and using the frames of thepanels as guides for their displacement along the array, thus avoidingthe need to install rails or any other element of additional guide.Although in the modality of FIG. 1 two modules are illustrated, thenumber of modules comprising the system will depend on the specificconfiguration of each panel, with at least one module at each end of thesystem. However, in some cases with panels of greater extension, it ispossible to add additional modules arranged towards the center of thesystem, between the modules (10 a, 10 b), being able to deliver greatertraction and support to arrays of larger panels, for example, when threeor more rows of panels are arranged together in the same arrangement.Furthermore, according to the alternative embodiment illustrated in FIG.1 , the modules are attached to each other through at least two profiles(11), which cross the surface of the array of panels from one end to theother, these profiles being (11) optional, depending on the conditionsin which the array of panels is arranged, providing a structuralconnection between modules.

In connection with the arrangement of the independent modules, accordingto the example of FIG. 1 , wherein the system (1) has two specularmodules (10 a, 10 b) each arranged towards the ends of the system (1),it is relevant to emphasize that the communication between modules canbe configured in a simple way during the replacement operations of oneof the modules, operation in which the new pair of modules (10 a, 10 b)that form the system must be matched again. When removing one or bothmodules during a module replacement operation, a communication link mustbe re-established between the modules that form the system, an operationthat is usually referred to as pairing. In the context of the inventionsaid operation is simple, being only necessary to link the modules thatare part of the system either through a contact or proximitycommunication or through an external equipment that is in communicationwith different modules to establish link relationships between them.

Finally, the system comprises at least one cleaning element (16), suchas a brush arranged in the same orientation of the profiles (11) andattached at its ends to each of the modules (10 a, 10 b). According tothe preferred embodiment, the cleaning element (16) rotates driven by atleast one actuating element (18) such as a motor, which regulates therevolutions per minute of said cleaning element (16) and transmits itsgenerated energy to the cleaning element (16) through a transmissionsystem (21). Said rotational movement of the cleaning element (16) iscommonly in the opposite direction to the displacement of the system onthe array of panels, thus avoiding to drag the particles that are on thepanel, which usually scratches its surface. It is important to emphasizethat the cleaning element (16) consists of multiple cleaning elements ofa standard length, which are coupled until reaching the desired measure.This allows a simpler assembly and disassembly, besides allowing, incase of any failure in any of the sections of the cleaning element (16),the replacement only of the affected part, thus avoiding having toreplace the complete cleaning element (16). According to a preferredembodiment of the invention, the modules of the system are attachedtogether only by the cleaning element (16), wherein said cleaningelement provides the required structural connection between bothmodules.

In FIG. 1 it is also observed that each of the modules (10 a, 10 b)comprises two traction elements (14) and four guiding elements (15),which together allow the displacement of the system (1). On the onehand, the traction elements (14), which may be some type of wheel, forexample, allow the system (1) to move across the surface of the array ofpanels. This movement can be delivered by means of manual actionscarried out by an operator or by means of actuating elements (18), suchas an electric motor, arranged by each of the traction elements (14) inthe modules (10 a, 10 b), which receive energy from at least two energystorage elements (25), such as lithium batteries, also arranged in eachof the modules (10 a, 10 b) respectively. On the other hand, the guidingelements (15), which can also be wheels, for example, fulfill thefunction of keeping the modules (10 a, 10 b) in a correct position inrelation to the array of panels. In addition, thanks to the fact thatthey are arranged in pairs, they allow having a gap between them whenpivoting around a common axis, which helps the modules (10 a, 10 b) toovercome small bumps between panels. The number of traction elements(14) and guiding elements (15) will depend on the difficulties thatexist to mobilize the system, depending on the arrangement in which thearray of panels (100) is located, and the system can operate only with atraction element (14) arranged in each module (10 a, 10 b).

To ensure that there is no type of gap in the movement of the modules(10 a, 10 b), a controller element (24) such as a controller card, isalso provided in each of the modules, which allows the modules (10 a, 10b) to be in communication with each other, taking charge in addition toregulate the power that is delivered to each of the actuating elements(18), maintaining a synchronized operation of the modules. Thiscommunication established between the modules (10 a, 10 b) allows saidmodules to act independently of one another but always maintainingcoordination in the operation. In addition, in case of replacement of amodule, the system is able to initiate a new communication link betweenmodules in order to keep their operation synchronized. As noted, in thiscase the new communication link can be established automatically, when amodule is recognized wirelessly with another in its vicinity or by anexternal user equipment, used to link the modules forming the system.

FIG. 2 shows in detail the independent module (10 a) which ispractically identical to the module (10 b) except for its specularconfiguration. It is possible to observe the same elements alreadydescribed for FIG. 1 , also it shows the holes (12) through which eachof the profiles (11) cross, as well as the anchors (13), which allow tofix the profiles (11) to each end of the modules (10 a, 10 b). Inaddition, the regulating element (22) and the guide shafts (23),responsible for raising or lowering the cleaning element (16) withrespect to the surface of the panels, are observed. According to oneembodiment, the profiles (11) have a cross section in the shape of across or another shape that facilitates the sliding of each profile withrespect to each module and, at the same time, facilitates the fixing ofsaid profiles to each module.

Another important characteristic to point out from this figure is that,on the one hand, the system (1) is modular because it has only twomodules for its assembly (10 a, 10 b), one or more profiles (11) and ancleaning element (16) independent of each other and on the other hand,there is also a constructive modularity in each of the modules (10 a, 10b). As can be seen in FIG. 2 each of the components of the module is aseparate unit, each component being formed and arranged in sealedhousings or compartments, as it is the case of the actuating elements,controller elements and energy storage elements, and/or easily assembledin the main structure or frame of the module as it is the case of thetraction, guidance and cleaning elements, being able to be replaced orrepaired independently without the need to change the complete module.In this context, each unit that forms part of the module (10 a, 10 b)can be protected through a cover that has a sealing means, such as anO-ring or some other type of seal, forming a waterproof coupling betweenthe respective cover and the frame or body of each module, thuspreventing the water or dust entry into the critical, mobile and/orelectronic components of each module. In this sense, it is relevant toemphasize that the configuration of each module as a frame arranged toreceive the components that form the same wherein said components areformed as independent units and easily assembled from their respectivecover and seal, allows to avoid the use of protective housings thatcover the entire system, as it is described and used in many of thesolutions currently used, which reduce the efficiency of the arrays ofpanels due to the greater production of shaded areas on its surfaces,situation that is optimized by the present invention reducing to theminimum the environmental conditions impact on the components, forexample, the entry of dust or water to some of said components of thesystem, the latter thanks to the fact that each component of the systemis attachable to the modules as a unit, comprising independent housingsfor each component forming an easily detachable and replaceable unit.

Referring to FIG. 3 , it shows in detail the arrangement of pairs ofguiding elements (15), which are attached on their axes by two plates(19) and pivoting with respect to an axis of anchor (20) that attachesto the respective module. This allows the modules to obtain a clearancebetween the guiding elements (15) of the respective pair, whichtranslates into another advantage of the present invention in comparisonwith the existing solutions, since this arrangement allows the modulesto pass over any type of unevenness that exists between adjacent panels,which would stop most of the current cleaning devices. In this context,the arrangement of each pair of guiding elements (15) acts as asuspension element absorbing the gaps between panels, favoring thecirculation of each module.

With respect to FIGS. 4 and 5 , these detail the arrangement of theregulation element (22) in conjunction with the guide axes (23) in therespective module. The ends of the cleaning element (16) are attached tothe couplings (17), said couplings (17) having a clearance as to theheight at which the end of the cleaning element (16) can be attached.This height is regulated by the regulating element (22), which can beoperated to raise the cleaning element (16) or to lower it, depending onthe conditions of the surface of the array of panels. This is a furtheradvantage of the system (1) compared to that described in the state ofthe art, since the present invention is not only capable of avoidingunevenness between the upper parts of the adjacent panels, but it isalso capable of moving the cleaning element (16) in case of unevennessbetween the surfaces of adjacent panels. The operation of the regulatingelement (22) can be carried out by manual operation thereof or by thesame controlling element (24) which, by means of sensors, can detectwhen it is necessary to proceed with the movement of the cleaningelement (16).

Additionally, FIG. 6 shows a detail of the transmission system (21)arranged to transmit the rotational movement of the at least oneactuating element (18) towards the cleaning element (16). Saidtransmission system (21) consists of a system of pulleys and atransmission belt, which allows maintaining the rotational movement ofthe cleaning element (16) while the height adjustment of said element ismade, through the regulating element (22) in conjunction with the guideaxes (23).

FIG. 7 shows the terminal port (26), to which the system (1) is coupledat time-out lapses or to recharge the energy storage elements (25). Saidterminal port (26) can deliver energy to the energy storage elements(25), either through a fixed source or through solar panels (27)arranged therein. It is important to emphasize that by not having toload the system (1) with any means of recharging, the weight of thesystem is reduced requiring less energy to mobilize it, as well as theshadows produced on the surface of the array of panels are reduced,increasing with this the electrical production efficiency.

Finally, FIG. 8 shows the complete system (1), arranged in the terminalport (26) at the end of an array of panels (100). It is observed how theterminal port (26) is constructed in such a way as to be a continuationof the panels, not interfering with the movement of the modules (10 a,10 b). Likewise, it can be seen the small amount of elements that causeshade to the array of panels (100), which undoubtedly contributes to theproduction efficiency in a photovoltaic plant.

NUMERICAL REFERENCES

-   1 Modular system for cleaning the panels-   10 a, 10 b Independent modules-   11 Profiles-   12 Openings-   13, 17 Couplings-   14 Traction element-   15 Guiding element-   16 Cleaning element-   18 Actuating element-   19 Plate-   20 Anchor shaft-   21 Transmission system-   22 Threaded shaft-   23 Guiding shaft-   24 Controller element-   25 Energy storage element-   26 Terminal port-   27 Solar panel-   100 Array of panels

The invention claimed is:
 1. A modular system (1) for cleaning panels orarrays of panels (100), characterized in that it comprises: at least twoindependent modules communicating with each other, arranged at the upperand lower ends of the array of panels (100), respectively, thus formingan upper module (10 a) and a lower module (10 b); and at least onecleaning element (16) disposed transversely to the array of panels (100)between the at least two upper and lower modules (10 a, 10 b), whereinsaid at least one cleaning element is attached to said upper and lowermodules (10 a, 10 b) by means of couplings (17); wherein each of theupper and lower modules (10 a, 10 b) comprises at least one tractionelement (14) arranged perpendicular to the array of panels (100),wherein said traction element (14) rotates when a force is applied,providing in this way movement to the upper and lower modules (10 a, 10b) through the array of panels (100); wherein each of the upper andlower modules (10 a, 10 b) comprises at least one actuating element(18), which provides rotation to the traction elements (14); whereineach upper and lower module (10 a, 10 b) further comprises at least onecontroller element (24), which allows the synchronization of movementbetween said upper and lower modules (10 a, 10 b), wherein the at leastone controller element (24) establishes a communication link between theupper and lower modules (10 a, 10 b); and wherein the synchronization ofmovement between the upper and lower modules (10 a, 10 b) is performedthrough the synchronized control of its actuating elements (18), whereinthe at least one controller element (24) from any of the modules (10 a,10 b) has the capacity of establishes a communication link between saidmodule with any additional module or that is available for thereplacement of one or more of said modules (10 a, 10 b).
 2. The system(1) according to claim 1, characterized in that it also comprises atleast one profile (11) adjustable to the distance between the upper andlower ends of the array of panels (100), which holds the upper and lowermodules together (10 a, 10 b) through at least one opening (12) and onecoupling (13) arranged in each of the upper and lower modules (10 a, 10b), by which each profile (11) passes through and attaches to eachmodule.
 3. The system (1) according to claim 1, characterized in that itcomprises two profiles (11), which hold the upper and lower modulestogether (10 a, 10 b) through at least two openings (12) and twocouplings (13) arranged in each of the upper and lower modules (10 a, 10b).
 4. The system (1) according to claim 1, characterized in that thecleaning element (16) corresponds to a brush or brush of cylindrical orpolygonal cross section, wherein its bristles are hard, flexible or acombination of these characteristics.
 5. The system (1) according toclaim 1, characterized in that each of the upper and lower modules (10a, 10 b) further comprises at least one additional traction element(14), arranged perpendicularly to the arrangement of panels (100) torotate by applying a force to them, thereby providing an additional aidto the movement of the upper and lower modules (10 a, 10 b) through thearray of panels (100).
 6. The system (1) according to claim 1,characterized in that each of the upper and lower modules (10 a, 10 b)further comprises at least one pair of guiding elements (15) to maintainthe stability of said upper and lower modules (10 a, 10 b) and serve asa guide at the upper and lower ends of the array of panels (100).
 7. Thesystem (1) according to claim 6, characterized in that each of the upperand lower modules (10 a, 10 b) further comprises at least one additionalpair of guiding elements (15), to provide additional stability to thesystem (1) and to serve as a guide at the upper and lower ends of thearray of panels (100).
 8. The system (1) according to claim 1,characterized in that each pair of guiding elements (15) comprises atleast two plates (19), wherein said plates (19) are used to attach attheir ends a shafts of each guiding element (15) forming the pair ofguiding elements, wherein each pair of guiding elements (15) comprisesan anchor shaft (20) that attaches to both plates (19), which as a wholeallows to have a clearance in each of said pairs of guiding elements(15), further allowing a pivoting movement about a common axis of theguiding elements (15) that make up each of said pairs of guidingelements (15).
 9. The system (1) according to claim 1, characterized inthat each of the upper and lower modules (10 a, 10 b) further comprisesat least one additional actuating element (18), which provides rotationto the cleaning element (16) through a transmission system (21).
 10. Thesystem (1) according to claim 9, characterized in that the actuatingelements (18) correspond to an electric motor or any type of elementcapable of converting electrical energy or a fuel energy into mechanicalenergy.
 11. The system (1) according to claim 10, characterized in thateach of the actuating elements (18) is covered by a sealed andimpermeable individual housing for its protection, forming anindependent and individually replaceable unit in each upper and lowermodule (10 a, 10 b), without intervening the rest of the components. 12.The system (1) according to claim 9, characterized in that thetransmission system (21) corresponds to a system of pulleys and drivebelt or to any type of system capable of transmitting the energygenerated by actuating elements.
 13. The system (1) according to claim12, characterized in that the transmission system (21) is covered by asealed and impermeable individual housing for its protection, forming anindependent and individually replaceable unit in each upper and lowermodule (10 a, 10 b), without intervening the rest of the components. 14.The system (1) according to claim 1, characterized in that each upperand lower module (10 a, 10 b) further comprises at least one regulatingelement (22) connected to at least one guiding shaft (23), arrangedsubstantially perpendicular to an axis of the coupling (17), wherein theregulating element (22) attaches to the coupling (17) of each module, inwhich the ends of the cleaning element (16) are arranged, allowing toraise or to lower said cleaning element (16) in relation to the surfaceof the array of panels (100).
 15. The system (1) according to claim 14,characterized in that each of the controller elements (24) is covered bya single sealed and impermeable housing for its protection, forming anindependent and individually replaceable unit in each upper and lowermodule (10 a, 10 b), without intervening the rest of the components. 16.The system (1) according to claim 15, characterized in that the energystorage element (25) is covered by a sealed and impermeable individualhousing for its protection, forming an independent and individuallyreplaceable unit in each upper and lower module (10 a, 10 b), withoutintervening the rest of the components.
 17. The system (1) according toclaim 1, characterized in that the communication between the controllerelements (24) of each upper and lower module (10 a, 10 b) is carried outthrough a wireless communication protocol that allows the digitaltransmission of data, wherein said communication between modules can beconfigured at any time with one or more additional modules.
 18. Thesystem (1) according to claim 17, characterized in that the energystorage element (25) corresponds to a lead acid battery, lithium or anymaterial or combination of materials capable of storing electricalenergy.
 19. The system (1) according to claim 18, characterized in thatthe terminal port (26) comprises solar panels (27) or any other meansfor generating electrical energy which deliver the recharge energy tothe storage element of energy (25) of each module once they are locatedon the terminal port (26).
 20. The system (1) according to claim 1,characterized in that each upper and lower module (10 a, 10 b) furthercomprises at least one energy storage element (25) which allows theactuating elements (18) to operate without being permanently connectedto a fixed energy source.
 21. The system (1) according to claim 20,characterized in that it also comprises a terminal port (26) arranged atthe beginning or at the end of the array of panels (100), in which theupper and lower modules (10 a, 10 b) are located at time-out lapses.